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As the success of the nature-inspired algorithms in the unclear navigational problem is better, therefore, an improved butterfly optimization algorithm (IBOA) to determine the optimal feasible path for a humanoid robot navigating through a platform cluttered with both known and unfamiliar barriers is presented in this study. The BOA is inspired by the food-gathering habits of butterflies, where the sense of smell is the vital parameter in the global optimal search. However, the performance of this technique in the complex environment is poor, as a result, the chances of being trapped in local minima are more. Hence, the BOA is improved by using a nonlinear weight reduction strategy in updating the position of the butterflies in every iteration. The simulation is carried out in the Webots platform by considering variable-legged robot, NAO, in an unfamiliar environment. The outcomes derived from the simulation and real assessments demonstrate the potential of the proposed technique and compare with other existing algorithms, which highlights the potential and efficacy of the proposed IBOA algorithm.<\/jats:p>","DOI":"10.1017\/s0263574725000712","type":"journal-article","created":{"date-parts":[[2025,6,4]],"date-time":"2025-06-04T01:59:18Z","timestamp":1749002358000},"page":"2273-2303","source":"Crossref","is-referenced-by-count":2,"title":["An improved butterfly optimization algorithm-based path navigation of humanoid robots in an unfamiliar setting"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-1222-0371","authenticated-orcid":false,"given":"Himansu Sekhar","family":"Dash","sequence":"first","affiliation":[{"name":"National Institute of Technology"},{"name":"Indira Gandhi Institute of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dayal R.","family":"Parhi","sequence":"additional","affiliation":[{"name":"National Institute of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9391-7509","authenticated-orcid":false,"given":"Manoj Kumar","family":"Muni","sequence":"additional","affiliation":[{"name":"Indira Gandhi Institute of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pinaki","family":"Das","sequence":"additional","affiliation":[{"name":"National Institute of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2025,6,4]]},"reference":[{"key":"S0263574725000712_ref4","first-page":"1","article-title":"Motion planning for omnidirectional wheeled mobile robot by potential field method","volume":"2017","author":"Li","year":"2017","journal-title":"J. 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